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Guys, help, I can not do it without you :)
#1
First, I think that I have a noisy quad (which filter should I adjust?). 
And secondly, with PID it is also necessary to do something! Smile

https://drive.google.com/file/d/0B6J5kqf...sp=sharing

Code:
# version
# Betaflight / MATEKF405 3.1.7 May  2 2017 / 19:59:41 ()

# master
set task_statistics = ON
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 8
set rssi_scale = 30
set rc_interp = AUTO
set rc_interp_ch = RP
set rc_interp_int = 19
set rssi_invert = OFF
set input_filtering_mode = OFF
set fpv_mix_degrees = 0
set max_aux_channels = 14
set debug_mode = NOTCH
set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set digital_idle_percent =  6.000
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT600
set motor_pwm_rate = 480
set disarm_kill_switch = ON
set gyro_cal_on_first_arm = OFF
set auto_disarm_delay = 5
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serial_update_rate_hz = 100
set gps_provider = NMEA
set gps_sbas_mode = AUTO
set gps_auto_config = ON
set gps_auto_baud = OFF
set gps_wp_radius = 200
set nav_controls_heading = ON
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set beeper_inversion = ON
set beeper_od = OFF
set serialrx_provider = SBUS
set serialrx_halfduplex = OFF
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autorst = 1
set tlm_switch = OFF
set tlm_inversion = ON
set sport_halfduplex = ON
set frsky_default_lat =  0.000
set frsky_default_long =  0.000
set frsky_gps_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_int = 5
set pid_in_tlm = OFF
set ibus_report_cell_voltage = OFF
set bat_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set vbat_hysteresis = 1
set ibat_scale = 179
set ibat_offset = 0
set mwii_ibat_output = OFF
set current_meter_type = ADC
set battery_meter_type = ADC
set bat_detect_thresh = 55
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gyro_lpf = OFF
set gyro_sync_denom = 2
set gyro_isr_update = OFF
set gyro_use_32khz = ON
set gyro_lowpass_type = PT1
set gyro_lowpass = 90
set gyro_notch1_hz = 400
set gyro_notch1_cut = 300
set gyro_notch2_hz = 200
set gyro_notch2_cut = 100
set moron_threshold = 48
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set thr_corr_value = 0
set thr_corr_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set servo_center_pulse = 1500
set tri_unarmed_servo = ON
set servo_lowpass_hz = 400
set servo_lowpass = OFF
set servo_pwm_rate = 50
set gimbal_mode = NORMAL
set channel_forwarding_start = 4
set airmode_start_throttle = 1350
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = NONE
set acc_lpf_hz = 10
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set pid_process_denom = 2
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = SDCARD
set blackbox_on_motor_test = OFF
set ledstrip_visual_beeper = OFF
set sdcard_dma = OFF
set osd_units = IMPERIAL
set osd_rssi_alarm = 20
set osd_cap_alarm = 1100
set osd_time_alarm = 10
set osd_alt_alarm = 100
set osd_vbat_pos = 2496
set osd_rssi_pos = 2049
set osd_flytimer_pos = 2520
set osd_ontimer_pos = 374
set osd_flymode_pos = 364
set osd_throttle_pos = 129
set osd_vtx_channel_pos = 200
set osd_crosshairs = 0
set osd_horizon_pos = 200
set osd_current_pos = 2464
set osd_mah_drawn_pos = 2073
set osd_craft_name_pos = 396
set osd_gps_speed_pos = 66
set osd_gps_sats_pos = 386
set osd_altitude_pos = 161
set osd_pid_roll_pos = 322
set osd_pid_pitch_pos = 354
set osd_pid_yaw_pos = 386
set osd_power_pos = 47
set osd_pidrate_profile_pos = 418
set osd_battery_warning_pos = 200
set vcd_video_system = 0
set vcd_h_offset = 0
set vcd_v_offset = 0
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
set displayport_max7456_col_adjust = 0
set displayport_max7456_row_adjust = 0

# profile
profile 0

set gps_pos_p = 15
set gps_pos_i = 0
set gps_pos_d = 0
set gps_posr_p = 34
set gps_posr_i = 14
set gps_posr_d = 53
set gps_nav_p = 25
set gps_nav_i = 33
set gps_nav_d = 83
set pidsum_limit =  0.500
set pidsum_limit_yaw =  0.500
set d_lowpass_type = PT1
set d_lowpass = 100
set d_notch_hz = 260
set d_notch_cut = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_thresh = 350
set anti_gravity_gain =  3.000
set setpoint_relax_ratio = 100
set d_setpoint_weight = 60
set yaw_accel_limit =  10.000
set accel_limit =  0.000
set iterm_windup = 50
set yaw_lowpass = 0
set p_pitch = 58
set i_pitch = 50
set d_pitch = 35
set p_roll = 44
set i_roll = 40
set d_roll = 30
set p_yaw = 70
set i_yaw = 45
set d_yaw = 20
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 50
set i_level = 50
set d_level = 100
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_sensitivity = 55
set level_limit = 55
rateprofile 0

# rateprofile
rateprofile 0

set rc_rate = 130
set rc_rate_yaw = 130
set rc_expo = 0
set rc_yaw_expo = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 10
set tpa_breakpoint = 1650

#

Motors - Racerstar 2205.
ESC - Racerstar v2 DSHOT600
Prop - king kong 5x4x3
#2
Is your flight controller soft mounted?

The gyro on these is particularly sensitive and if you don't soft mount the flight controller and have any vibration from your props or motors, you'll see exactly what you're seeing in your black box log.

Also, you might find that upgrading to Betaflight 3.2 and using the dynamic filter might help.

I can't really say any more as I've not used a 32KHz capable gyro yet and don't really see the need either.
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